Snake robots: modelling, mechatronics and control
by Gravdahl, Jan Tommy Liljebäck, Pål Pettersen, Kristin Y. Stavdahl, Øyvind
Title Statements
- Full title :Snake robots : modelling, mechatronics and control / by Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl.
Edition Statements
- Publication Date:2012.
Publication Statements
- Publisher(s):Springer
- Place of Publication:London
- Language:eng
- Publication Date:2012.
The Physical Object
- Description:1 online resource (xvii, 317 pages)
Edition Identifiers
- ISBN:1447129962, 9781447129967, 9781447129950, 1447129954
- oclc:ocn801444686
- LC Classification:TJ211
Table of Contents
Part 1. Snake robot locomotion on flat surfaces -- A complex model of snake robot locomotion on planar surfaces -- Development of a mechanical snake robot for motion across planar surfaces -- Analysis and synthesis of snake robot locomotion -- Path following control and analysis of snake robots based on the poincare map -- A simplified model of snake robot locomotion on planar surfaces -- Analysis of snake robot locomotion based on averaging theory -- Path following control of snake robots through a cascaded approach -- Part 2. Snake robot locomotion in cluttered environments -- Introduction to part II -- A hybrid model of snake robot locomotion in cluttered environments -- Development of a mechanical snake robot for obstacle-aided locomotion -- Hybrid control of obstacle-aided locomotion -- Path following control of snake robots in cluttered environments -- Future research challenges of snake robot locomotion.
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